From 214ad231c9c243e4c10a9265ae8b02b931c17be1 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federicomandelli@skywarder.eu>
Date: Wed, 11 Oct 2023 20:21:38 +0200
Subject: [PATCH] [OBSW] Sett parameters pre euroc flight
---
src/boards/Payload/Configs/FlightModeManagerConfig.h | 2 +-
src/boards/Payload/Configs/WingConfig.h | 9 ++++++---
src/boards/Payload/Radio/Radio.cpp | 2 +-
.../FlightModeManager/FlightModeManager.cpp | 4 ++--
4 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/src/boards/Payload/Configs/FlightModeManagerConfig.h b/src/boards/Payload/Configs/FlightModeManagerConfig.h
index 0d09f70c8..e39a81911 100644
--- a/src/boards/Payload/Configs/FlightModeManagerConfig.h
+++ b/src/boards/Payload/Configs/FlightModeManagerConfig.h
@@ -25,6 +25,6 @@
namespace Payload
{
constexpr unsigned int MISSION_TIMEOUT = 15 * 60 * 1000; // [ms]
-constexpr unsigned int APOGEE_TIMEOUT = 40 * 1000; // [ms]
+constexpr unsigned int APOGEE_TIMEOUT = 32 * 1000; // [ms]
constexpr unsigned int LOGGING_DELAY = 30 * 1000; // [ms]
} // namespace Payload
diff --git a/src/boards/Payload/Configs/WingConfig.h b/src/boards/Payload/Configs/WingConfig.h
index f8dbd7219..7fd135ba0 100644
--- a/src/boards/Payload/Configs/WingConfig.h
+++ b/src/boards/Payload/Configs/WingConfig.h
@@ -35,9 +35,12 @@ constexpr float DEFAULT_TARGET_LON = -8.288992;
#elif defined(ROCCARASO)
constexpr float DEFAULT_TARGET_LAT = 41.809216;
constexpr float DEFAULT_TARGET_LON = 14.055310;
+#elif defined(EUROC)
+constexpr float DEFAULT_TARGET_LAT = 39.383;
+constexpr float DEFAULT_TARGET_LON = -8.27963;
#else // Milan
-constexpr float DEFAULT_TARGET_LAT = 41.809216;
-constexpr float DEFAULT_TARGET_LON = 14.055310;
+constexpr float DEFAULT_TARGET_LAT = 39.383;
+constexpr float DEFAULT_TARGET_LON = -8.27963;
#endif
constexpr int WING_UPDATE_PERIOD = 1000; // [ms]
@@ -53,7 +56,7 @@ constexpr int GUIDANCE_TARGET_ALTITUDE_THRESHOLD = 50; //[m]
// TODO check this parameter preflight
constexpr float KP = 0.4; //[m]
constexpr float KI = 0.08; //[m]
-constexpr float ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE = 300; // [meters]
+constexpr float ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE = 400; // [meters]
constexpr int ALTITUDE_TRIGGER_CONFIDENCE = 10; // [number of sample]
constexpr int ALTITUDE_TRIGGER_PERIOD = 100; //[ms]
diff --git a/src/boards/Payload/Radio/Radio.cpp b/src/boards/Payload/Radio/Radio.cpp
index d2825a61e..3611f2a44 100644
--- a/src/boards/Payload/Radio/Radio.cpp
+++ b/src/boards/Payload/Radio/Radio.cpp
@@ -80,7 +80,7 @@ bool Radio::start()
ModuleManager& modules = ModuleManager::getInstance();
// Config the transceiver
SX1278Fsk::Config config = {
- .freq_rf = 868000000,
+ .freq_rf = 869000000,
.freq_dev = 50000,
.bitrate = 48000,
.rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
diff --git a/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp
index 39fe67a70..0ed81c624 100644
--- a/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -406,11 +406,11 @@ State FlightModeManager::state_armed(const Event& event)
{
case EV_ENTRY:
{
- Logger::getInstance().start();
logStatus(FlightModeManagerState::ARMED);
Logger::getInstance().stop();
Logger::getInstance().start();
-
+ // we log again to ensure the both log have the status logged
+ logStatus(FlightModeManagerState::ARMED);
// Starts signaling devices and camera
ModuleManager::getInstance().get<Actuators>()->buzzerArmed();
ModuleManager::getInstance().get<Actuators>()->camOn();
--
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